#ifndef __FUZZY_CFG__
#define __FUZZY_CFG__



    // int fuzzy_pid_rule_base[][FUZZY_PID_QF_DEFAULT] = {
    //     // delta kp 规则库（7x7）
    //     // kp默认参数
    //     {PB, PB, PM, PM, PS, ZO, ZO},
    //     {PB, PB, PM, PS, PS, ZO, NS},
    //     {PM, PM, PM, PS, ZO, NS, NS},
    //     {PM, PM, PS, ZO, NS, NM, NM},
    //     {PS, PS, ZO, NS, NS, NM, NM},
    //     {PS, ZO, NS, NM, NM, NM, NB},
    //     {ZO, ZO, NM, NM, NM, NB, NB},

    //     //delta ki rule base
    //     {NB, NB, NM, NM, NS, ZO, ZO},
    //     {NB, NB, NM, NS, NS, ZO, ZO},
    //     {NB, NM, NS, NS, ZO, PS, PS},
    //     {NM, NM, NS, ZO, PS, PM, PM},
    //     {NM, NS, ZO, PS, PS, PM, PB},
    //     {ZO, ZO, PS, PS, PM, PB, PB},
    //     {ZO, ZO, PS, PM, PM, PB, PB},

    //     //delta kd rule base
    //     {PS, NS, NB, NB, NB, NM, PS},
    //     {PS, NS, NB, NM, NM, NS, ZO},
    //     {ZO, NS, NM, NM, NS, NS, ZO},
    //     {ZO, ZO, ZO, ZO, ZO, ZO, ZO},
    //     {PS, PS, PM, PM, ZO, ZO, ZO},
    //     {PB, PS, PS, PS, PS, PS, PB},
    //     {PB, PM, PM, PM, PS, PS, PB}
    // };


    // 隶属度函数（Membership Function） 0-1
    
    // int mf_params_def[4 * FUZZY_PID_QF_DEFAULT] = {-3, -2, -2, 0,
    //                                  -3, -2, -1, 0,
    //                                  -1,  0,  0, 0,
    //                                   0,  0,  1, 0,
    //                                   1,  1,  2, 0,
    //                                   1,  2,  3, 0,
    //                                   1,  3,  3, 0};

    // pid 控制器的默认参数
    // Kp, Ki,Kd,   intergral_limit,dead_zone,feed_forward
    // 原始pid值  积分限制幅度 死区阈值 前馈补偿调节

    // float fuzzy_pid_params_def[FUZZY_PID_PARAMS_COUNT] = {18.0f,0.006f,0.1f,   0, 0, 0};

#endif //__FUZZY_CFG__